CN105291091B - Three-translation-one-rotation parallel robot with plane pair - Google Patents

Three-translation-one-rotation parallel robot with plane pair Download PDF

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CN105291091B
CN105291091B CN201510764004.1A CN201510764004A CN105291091B CN 105291091 B CN105291091 B CN 105291091B CN 201510764004 A CN201510764004 A CN 201510764004A CN 105291091 B CN105291091 B CN 105291091B
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platform
pair
motion
telescopic rods
fixed
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CN105291091A (en
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张彦斐
宫金良
陈超
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Shandong University of Technology
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Shandong University of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
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Abstract

本发明提供一种含平面副的三平动一转动并联机器人，包括固定平台、运动平台和连接于固定平台与运动平台之间的四条结构相同的支链，其特征在于：运动平台为具有四个侧面的四棱台，每个侧面均含有矩形中空结构，圆盘滑块通过镶嵌在边缘的滚珠可动的嵌入到运动平台的矩形中空结构里面，与运动平台共同组成平面运动副，四条支链均含有伸缩杆，伸缩杆的一端通过转动副与固定平台连接，另一端与圆盘滑块的一面固接，四个转动副互相平行，四个伸缩杆的中心轴线交于一点。本发明通过驱动每条支链上的转动副，运动平台即可获得三个平动自由度和一个转动自由度，通过引入平面副，简化了支链结构，这种短支链的结构形式能够有效提高机器人刚度和运动精度。

Figure 201510764004

The invention provides a three-translation-rotation parallel robot with a plane pair, comprising a fixed platform, a moving platform and four branch chains with the same structure connected between the fixed platform and the moving platform, and is characterized in that: the moving platform has four The four-sided table on the side has a rectangular hollow structure on each side. The disc slider is movably embedded into the rectangular hollow structure of the motion platform through the ball embedded in the edge, and together with the motion platform, it forms a plane motion pair, four branch chains. They all contain telescopic rods. One end of the telescopic rods is connected to the fixed platform through a rotating pair, and the other end is fixed to one side of the disc slider. The four rotating pairs are parallel to each other, and the central axes of the four telescopic rods intersect at one point. In the present invention, by driving the rotating pair on each branch chain, the motion platform can obtain three translational degrees of freedom and one rotational degree of freedom. Effectively improve the rigidity and motion accuracy of the robot.

Figure 201510764004

Description

Three-translation one-rotation parallel robot with plane pair
Technical Field
The invention belongs to the technical field of mechanical manufacturing, and particularly relates to a three-translation and one-rotation parallel robot with a plane pair.
Background
The parallel robot and the series robot are in a dual relation in structure and performance characteristics, and compared with the traditional series robot, the parallel robot has the advantages of large structural rigidity, high bearing capacity, small inertia, high response speed, high precision and the like, and is widely applied to relevant fields such as mechanical manufacturing and the like.
The parallel robot with less degrees of freedom attracts a large number of scholars at home and abroad to carry out research by the characteristics and the application potential of the parallel robot. Pierrot et al propose an H4 type parallel robot with four branched chains and a double-acting platform structure characteristic, which realizes spatial three-dimensional translation and one-dimensional rotation, and the robot has good compliance in a horizontal plane and ensures higher rigidity in a direction perpendicular to the horizontal plane. The parallel mechanism mainly comprises a movable platform and a fixed platform, wherein an actuator is installed on the movable platform and the fixed platform, four branched chains with the same structure are connected between the movable platform and the fixed platform, and the parallel mechanism has the structural characteristics of a single platform, is simple in structure and kinematics, and is favorable for realizing high-speed movement. The precision positioning platform is composed of a base and a movable platform arranged in the base, has the characteristics of simple and compact structure, large output displacement, high axial rigidity and the like, can be used as an auxiliary positioning platform of a nanometer micro-operation system, and has the functions of micro-feeding and precision positioning. The asymmetrical parallel robot mechanism with three degrees of freedom, including movable platform, frame and three connected branches, has been developed by Tnhua front et al of Beijing university of industry. The two branches with the same structure are composed of a cylindrical pair, two rotating pairs and two connecting rods for connecting the two rotating pairs, and the other branch is composed of four rotating pairs and three connecting rods for connecting the four rotating pairs.
The research results relate to different types of parallel robots with few degrees of freedom, but the types of parallel robots with three translational degrees of freedom and one rotational degree of freedom still need to be expanded, and the structure still needs to be further simplified.
Disclosure of Invention
The invention aims to provide a three-translation and one-rotation parallel robot with a simple structure and a plane pair. The technical scheme is as follows:
the utility model provides a three translation one rotation parallel robot that contain the plane pair, includes fixed platform, motion platform and connects four branch chains that the structure is the same between fixed platform and motion platform, its characterized in that: the motion platform is for having the four-edge table of four sides, and every side all contains rectangle hollow structure, and the movable rectangle hollow structure the inside of embedding motion platform of ball through inlaying at the edge is gone into to the disc slider, constitutes the planar motion pair jointly with the motion platform, and four branch chains all contain the telescopic link, and the one end of telescopic link is passed through the revolute pair and is connected with fixed platform, and the other end and the one side rigid coupling of disc slider, four revolute pairs are parallel to each other, and the central axis of four telescopic links is handed over in a bit.
Compared with the prior art, the invention has the advantages that: (1) by introducing the plane pair, the branched chain structure is simplified, and the structural form of the short branched chain can effectively improve the rigidity and the motion precision of the robot; (2) the moving platform can obtain three translational degrees of freedom and one rotational degree of freedom by driving the revolute pair on each branched chain, and the robot is ensured to have good dynamic characteristics because the motor can be arranged on the fixed platform.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
In the figure: 1. fixed platform 2, motion platform 3, revolute pair 4, telescopic link 5, disc slider 6, ball.
Detailed Description
Motion platform 2 is for having the quadrangular frustum pyramid of four sides, every side all contains rectangle hollow structure, disc slider 5 is movable through inlaying at the edge 6 and is embedded into motion platform 2's rectangle hollow structure the inside, constitute the plane motion pair jointly with motion platform 2, four branch chains all contain telescopic link 4, the one end of telescopic link 4 is passed through revolute pair 3 and is connected with fixed platform 1, the other end and disc slider 5's one side rigid coupling, four revolute pairs 3 are parallel to each other, four telescopic link 4's the central axis is handed over in a bit.

Claims (1)

1.一种含平面副的三平动一转动并联机器人，包括固定平台（1）、运动平台（2）和连接于固定平台（1）与运动平台（2）之间的四条结构相同的支链，其特征在于：运动平台（2）为具有四个侧面的四棱台，每个侧面均含有矩形中空结构，圆盘滑块（5）通过镶嵌在边缘的滚珠（6）可动的嵌入到运动平台（2）的矩形中空结构里面，与运动平台（2）共同组成平面运动副，固定平台（1）的每个侧面的矩形中空结构中均设置有一个圆盘滑块（5），每个圆盘滑块（5）均与一条支链连接，四条支链均含有伸缩杆（4），伸缩杆（4）的一端通过转动副（3）与固定平台（1）连接，另一端与圆盘滑块（5）的一面固接，四个转动副（3）互相平行，四个伸缩杆（4）的中心轴线交于一点。1. A three-translation-one-rotation parallel robot with a plane pair, comprising a fixed platform (1), a moving platform (2), and four branches of the same structure connected between the fixed platform (1) and the moving platform (2) , is characterized in that: the motion platform (2) is a quadrangular platform with four sides, each side contains a rectangular hollow structure, and the disc slider (5) is movably embedded into the edge of the ball (6) embedded in the edge. In the rectangular hollow structure of the moving platform (2), a plane motion pair is formed together with the moving platform (2), and a disc slider (5) is arranged in the rectangular hollow structure on each side of the fixed platform (1). Each disc slider (5) is connected with a branch chain, and the four branch chains all contain telescopic rods (4). One end of the telescopic rods (4) is connected to the fixed platform (1) through the rotating pair (3), and the other end is One side of the disc slider (5) is fixedly connected, the four rotating pairs (3) are parallel to each other, and the central axes of the four telescopic rods (4) intersect at one point.
CN201510764004.1A 2015-11-11 2015-11-11 Three-translation-one-rotation parallel robot with plane pair Expired - Fee Related CN105291091B (en)

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CN107234317A (en) * 2017-08-14 2017-10-10 北京工业大学 A kind of automatic welding main body mechanism for building and its welding system
CN107856025B (en) * 2017-12-20 2023-12-26 歌尔科技有限公司 Robot and angle adjusting mechanism thereof
CN111331581B (en) * 2020-03-17 2022-07-01 中国民航大学 A Partially Decoupled Cross-Type Four-DOF Parallel Mechanism
CN113119072A (en) * 2021-04-12 2021-07-16 福州大学 Symmetrical redundant driving parallel operation head comprising double-acting platform
ES2978805A1 (en) * 2023-02-16 2024-09-20 Univ Del Pais Vasco / Euskal Herriko Unibertsitatea Device for the diagnosis and rehabilitation of balance in standing and walking, and operating procedure for an installation consisting of two such devices

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DE19930287A1 (en) * 1999-07-03 2001-01-04 Klaus Dagefoerde Joint arm machining center, with fast-moving work platform and slow moving joint arm device
CN1472046A (en) * 2003-07-16 2004-02-04 刘辛军 Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism
CN101178306A (en) * 2007-11-22 2008-05-14 山东理工大学 Six-dimensional position and attitude sensor
CN102058465A (en) * 2011-02-22 2011-05-18 福州大学 Ankle rehabilitation training device with single degree of freedom
CN104002302A (en) * 2014-05-07 2014-08-27 燕山大学 Two and three freedom-degree swing table with virtual rotating axis
KR20150094801A (en) * 2014-02-10 2015-08-20 순천대학교 산학협력단 Delta robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19930287A1 (en) * 1999-07-03 2001-01-04 Klaus Dagefoerde Joint arm machining center, with fast-moving work platform and slow moving joint arm device
CN1472046A (en) * 2003-07-16 2004-02-04 刘辛军 Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism
CN101178306A (en) * 2007-11-22 2008-05-14 山东理工大学 Six-dimensional position and attitude sensor
CN102058465A (en) * 2011-02-22 2011-05-18 福州大学 Ankle rehabilitation training device with single degree of freedom
KR20150094801A (en) * 2014-02-10 2015-08-20 순천대학교 산학협력단 Delta robot
CN104002302A (en) * 2014-05-07 2014-08-27 燕山大学 Two and three freedom-degree swing table with virtual rotating axis

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